CN105509671B - A kind of robot tooling center points scaling method using plane reference plate - Google Patents
A kind of robot tooling center points scaling method using plane reference plate Download PDFInfo
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- CN105509671B CN105509671B CN201510867618.2A CN201510867618A CN105509671B CN 105509671 B CN105509671 B CN 105509671B CN 201510867618 A CN201510867618 A CN 201510867618A CN 105509671 B CN105509671 B CN 105509671B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a kind of robot tooling center points scaling method using plane reference plate, mark timing controlled robot makes the plane contact more than six times of TCP and calibration tool with different postures, recorder person joint's coordinate information is only needed during contact, in conjunction with the structural parameters of robot, coordinates of the TCP in robot end's flange coordinate system can be calculated, and assesses stated accuracy.The scaling method does not need robot TCP points repeatedly to be overlapped with same fixing point, and a point is overlapped and requires that reduction overlaps for a face, calibration tool is simple, easy to implement.When less offset occurs in robot TCP, Auto-calibration can be also realized.
Description
Technical Field
The invention relates to a robot Tool Center Point (TCP) calibration method, in particular to a robot Tool center point calibration method using a plane calibration plate.
Background
The Tool Center Point (TCP) is the origin of the Tool coordinate system fixedly connected to the robot Tool, and the coordinates of the actual working point of the Tool in the Tool coordinate system remain unchanged. To accurately control the position of the actual working point of the tool, the robot must first obtain the origin of the tool coordinate system, i.e. the coordinates of the TCP in the robot end flange coordinate system.
The process of calculating the coordinates of the TCP in the robot end flange coordinate system is called robot tool center point calibration. Accurate calibration of the robot TCP is the basis for off-line programming.
The core of TCP calibration is to determine the coordinates of TCP in the robot end flange coordinate system. The traditional method is a 4-point method, namely, a robot is enabled to coincide with a space fixed point through four different directions, and then the TCP coordinates are solved by using the joint rotation angle of the robot and the structural information of the robot.
The difficulty with this approach is that the registration of the dots to achieve registration must be done manually and requires fine adjustment. If the alignment is not accurate, the error is easy to be too large. Therefore, TCP calibration is time-consuming and labor-consuming, and the working efficiency of the robot is affected.
Patent CN104827480A discloses an automatic calibration method for robot, which utilizes a calibration board to calibrate the internal structural parameters of a sensor and a sensor coordinate system relative to a world coordinate system; and controlling the robot to accurately move the origin of the coordinate system of the tool mounted thereon to the same target point in a plurality of different postures under the guidance of the calibrated sensor, and calculating a transfer matrix tcpTt of the tool coordinate system relative to the tool center point coordinate system of the robot according to the posture data of the robot at the target point.
The problem of this scheme lies in, before carrying out the operation, need carry out calibration in advance to calibration board calibration sensor, and this calibration instrument should possess the position detection function, need carry out the preliminary treatment promptly, and the implementation step is comparatively loaded down with trivial details.
Patent CN104457645A discloses a calibration method for a central point of a robot tool using a two-dimensional measurement function flat plate, which weakens the superposition constraint of point points for point-surface contact, is easy to operate, and can realize autonomous calibration when TCP has small deviation.
However, the above scheme requires the flat plate calibration tool to have a two-dimensional measurement function, which results in higher implementation cost.
Disclosure of Invention
The invention provides a robot tool center point calibration method by using a plane calibration plate, which aims to solve the problems of complicated calibration operation and low precision in the prior art, assists the robot TCP calibration work by using the calibration plate with higher plane precision, reduces the alignment difficulty in the calibration process, improves the calibration efficiency, is easy to realize the calibration automation and reduces the cost.
In order to achieve the above technical objects, the present invention has been made,
a robot tool center point calibration method using a plane calibration plate includes the following steps:
the method comprises the following steps: enabling a central point of a robot tool, namely TCP (transmission control protocol), to be in contact with the same plane when the robot is in different postures, forming different contact points, and recording the rotation angle of each joint of the robot and a calibration coordinate expression of each contact point in a world coordinate system of the robot when each contact point is in contact;
step two: selecting four contacts as a group, selecting a contact group pair from the four contacts in pairs, wherein the four contacts at least appear once as vector end points to form three vectors in a robot world coordinate system, and obtaining an equation under the condition that the mixed product of the three vectors is equal to zero; removing a contact from the selected contact set, adding a new contact, and repeating the above method to obtain a second equation; the same operation is carried out to obtain a third equation; finally, solving an equation set formed by the three equations to obtain coordinates of the TCP in a robot tool tail end flange coordinate system, and completing calibration;
step three: the calibration coordinates of each contact in the robot world coordinate system are calculated by using the calibration coordinates of the TCP in the robot tool tail end flange coordinate system obtained by calibration and the corresponding joint rotation angles of the robot when the contacts are generated, a fitting plane is obtained by adopting least square fitting, the average distance from a plurality of contacts to the fitting plane is used as the judgment basis of the calibration result, if the average distance is less than a set threshold value, the current calibration result meets the precision requirement, otherwise, new contact coordinates need to be measured again, calibration is carried out again until the calibration result meets the calibration precision requirement.
In the method for calibrating the center point of the robot tool by using the plane calibration plate, in the first step, the plane contacted by the TCP is the calibration plate.
In the first step, a contact sensor for automatically detecting whether the TCP is contacted with the calibration plate is arranged on the calibration plate.
In the first step, a coordinate expression of the contact in a world coordinate system of the robot is obtained by calculating the rotation angle of each joint of the robot and the self structure of the robot by using the origin of the world coordinate system of the robot, wherein the coordinate expression comprises three coordinates of TCP to be solved in a flange coordinate system at the tail end of the robot.
In the method for calibrating the center point of the robot tool by using the plane calibration plate, in the first step, the number of the contact points is at least six.
The method has the technical effects that the calibration of the robot TCP is realized by utilizing a fixed plane, the point-point coincidence process which is difficult to realize accurately under the conditions of visual observation and manual control is avoided, the robot TCP point does not need to coincide with a fixed point in the same space for multiple times, the point-point coincidence requirement is weakened to be point-plane coincidence, and the operation is easy. The equipment required by calibration is simple, and only one plane with higher precision is needed. When the robot TCP has a small deviation, the robot can generally ensure that the TCP point coincides with the flat tool according to a predetermined program, so as to realize the autonomous calibration. The whole method is simple to operate, ingenious in conception, high in calibration precision and good in popularization effect. And the contact sensor is combined to realize automatic control of the contact process, manual intervention is not required, and highly automatic calibration is realized.
The invention will be further explained with reference to the drawings.
Drawings
FIG. 1 is a schematic diagram of a robot and a calibration board used in an embodiment of the present invention;
wherein 1 is a robot base, 2 is a 6-degree-of-freedom robot, 3 is a welding gun, 4 is a flat plate used as a calibration tool, 5 is a computer, and 6 is a robot controller.
Detailed Description
See FIG. 1, { F0A robot world coordinate system established by the space of the robot base, { F6And the coordinate system of the robot tail end flange fixed on the robot tail end flange is adopted, and a computer 5 is utilized to collect signals of a contact sensor of the calibration plate and judge whether the calibration plate is touched. The computer is connected with the robot controller 6 through a network, when the calibration board generates a touch signal, a motion stop signal can be sent to the robot, and the computer simultaneously reads the information of the corner joints of the robot from the robot controller and completes the subsequent calculation.
PtcpSetting the target set point of TCP, the core of the calibration work is to find the point at { F }6Coordinates in (c) }6Ptcp＝{6xtcp，6ytcp，6ztcp}T. The point is in the robot world coordinate system { F }0The coordinates of0Ptcp＝{0xtcp，0ytcp，0ztcp}T。
This embodiment places the calibration plate in the robot workspace first, when controlling the P on the robot tooltcpWhen the point moves to the plane direction on the calibration plate, the robot stops moving after the calibration plate senses touch.
Firstly, controlling the robot, making the central point of the robot tool contact with the plane on the calibration plate to form a contact point, recording the rotation angle of each joint of the robot and the coordinate expression of the contact point in the world coordinate system of the robot when the contact occurs, then controlling the robot to be far away from the calibration plate, then controlling the robot to adjust to the posture different from the last contact, namely after the movement position of the joint changes, making the central point of the robot tool contact with the plane of the calibration plate to form different contact points, recording the joint rotation angle of the robot when the instrument contacts with the plane of the calibration plate and the coordinate expression of the contact point in the world coordinate system of the robot, repeatedly operating to form a plurality of contact points, wherein the expression of the contact points in the world coordinate system expresses the Cartesian coordinate of the contact points in the fixed space coordinate system according to the joint rotation angle of the robot, the length of the rod and the offset, and the calculation method is obtained by the homogeneous transformation of the, the calculation process is the kinematics positive solution of the robot and is a known technology;
the calibration plate only needs to meet the requirements of plane precision and hardness and is fixed at any position which can be contacted by the central point of the robot tool, wherein the plane precision is related to the target precision to be achieved by calibration, if the target calibration precision is high, the requirement of the plane precision is correspondingly improved, the requirement of the hardness is related to the type of a tool at the tail end of the robot, if the tool is hard, the calibration plate is easy to scratch, the hardness of the calibration plate is correspondingly improved, and the plane precision and the hardness can be determined according to the field requirement in the actual calibration;
in order to complete the subsequent calculation process, the number of the contacts generated is at least 6;
in this embodiment, when the center point of the robot tool makes planar contact with the calibration plate, the rotation angle of the robot joint is recorded as:
θ1＝{θ1 1,θ2 1,θ3 1,θ4 1,θ5 1,θ6 1}T、θ2＝{θ1 2,θ2 2,θ3 2,θ4 2,θ5 2,θ6 2}T，θ3＝{θ1 3,θ2 3,θ3 3,θ4 3,θ5 3,θ6 3}T、θ4＝{θ1 4,θ2 4,θ3 4,θ4 4,θ5 4,θ6 4}T、θ5＝{θ1 5,θ2 5,θ3 5,θ4 5,θ5 5,θ6 5}T、θ6＝{θ1 6,θ2 6,θ3 6,θ4 6,θ5 6,θ6 6}T
the coordinate expression of the contact in the robot world coordinate system is obtained by calculating the rotation angle of each joint of the robot and the self structure of the robot by using the origin of the robot world coordinate system, wherein the coordinate expression comprises three coordinates of a robot tool center point to be solved in a robot end flange coordinate system;
robot tool center point and calibration plate contact point in robot world coordinate system { F0Coordinates in (c) }0PtcpAnd robot end coordinate system { F6Coordinates in (c) }6PtcpThe relationship between them is as follows:
wherein,0O6is the robot end coordinate system { F6The origin in (F) is in the robot world coordinate system (F)0The coordinate in the equation is theta, the rotation angle of each joint of the robot is theta, and theta is { theta ═ theta1,θ2,θ3,θ4,θ5,θ6}T，Is from the robot end coordinate system { F6To the robot world coordinate system { F }0The rotation matrix of the robot is a 3 multiplied by 3 orthogonal matrix and is determined by the rotation angle of each joint of the robot and the structural parameters of the robot;
the coordinates of the contact in the world coordinate system in this embodiment are recorded as:0Ptcp 1，0Ptcp 2，0Ptcp 3，0Ptcp 4，0Ptcp 5，0Ptcp 6。
selecting four contacts as a group, selecting coordinates of the contacts in a world coordinate system in pairs as a head-tail group to form three vectors, wherein each contact at least appears once as a vector end point, obtaining an equation under the condition that the mixed product of the three vectors is equal to zero, removing one contact from the selected contact group, adding a new contact, repeating the method to obtain a second equation, removing one contact from the selected contact group, adding a new contact, repeating the method to obtain a third equation, solving the equation group formed by the three equations to obtain the coordinates of the robot tool center point in the robot tail end coordinate system6Ptcp＝{6xtcp，6ytcp，6ztcp}TCompleting calibration;
coordinates of optional two touch points in robot world coordinate system0Ptcp aAnd0Ptcp bthe vectors formed by the head-to-tail pairing areWhich comprises6Ptcp＝{6xtcp，6ytcp，6ztcp}TThree unknowns;
in this example, the first set of contacts is selected as:0Ptcp 1，0Ptcp 2，0Ptcp 3，0Ptcp 4(ii) a The second set of contacts is selected as:0Ptcp 1，0Ptcp 2，0Ptcp 3，0Ptcp 5(ii) a The third set of contacts is selected as:0Ptcp 1，0Ptcp 2，0Ptcp 3，0Ptcp 6；
the first set of three vectors is chosen as:0Ptcp 10Ptcp 2，0Ptcp 10Ptcp 3，0Ptcp 10Ptcp 4(ii) a The second set of three vectors is selected as:0Ptcp 10Ptcp 2，0Ptcp 10Ptcp 3，0Ptcp 10Ptcp 5(ii) a The third set of three vectors is selected as:0Ptcp 10Ptcp 2，0Ptcp 10Ptcp 3，0Ptcp 10Ptcp 6；
with the condition that the three vector-mixed products in each group are equal to zero, three independent equations are obtained:
(0Ptcp 10Ptcp 2×0Ptcp 10Ptcp 3)·0Ptcp 10Ptcp 4＝0
(0Ptcp 10Ptcp 2×0Ptcp 10Ptcp 3)·0Ptcp 10Ptcp 5＝0
(0Ptcp 10Ptcp 2×0Ptcp 10Ptcp 3)·0Ptcp 10Ptcp 6＝0
the above equation set has 3 independent equations and only contains6Ptcp＝{6xtcp，6ytcp，6ztcp}T3 unknowns in total, so that the data to be calibrated can be solved.
By using the obtained6PtcpAnd the angle of the robot joint according toAnd (4) calculating the coordinates of the 6 contacts in the robot world coordinate system when the TCP is in contact with the flat plate. And fitting a plane by using the calculated 6 contact coordinate values and adopting a least square method, calculating the average value of the distances from the 3 contacts obtained by calculation to the fitted plane, and taking the average value as an index for evaluating the calibration effect, wherein if the average value is less than 5mm, the calibration result is considered to meet the requirement, and the calibration process is ended.
The above embodiments are only for illustrating the technical solutions of the present invention and are not limited, and those skilled in the art can make modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. A robot tool center point calibration method using a plane calibration plate is characterized by comprising the following steps:
the method comprises the following steps: enabling a central point of a robot tool, namely TCP (transmission control protocol), to be in contact with the same plane when the robot is in different postures, forming different contact points, and recording the rotation angle of each joint of the robot and a calibration coordinate expression of each contact point in a world coordinate system of the robot when each contact point is in contact;
step two: selecting four contacts as a group, selecting a contact group pair from the four contacts in pairs, wherein the four contacts at least appear once as vector end points to form three vectors in a robot world coordinate system, and obtaining an equation under the condition that the mixed product of the three vectors is equal to zero; removing a contact from the selected contact set, adding a new contact, and repeating the above method to obtain a second equation; the same operation is carried out to obtain a third equation; finally, solving an equation set formed by the three equations to obtain coordinates of the TCP in a robot tool tail end flange coordinate system, and completing calibration;
step three: the calibration coordinates of each contact in the robot world coordinate system are calculated by using the calibration coordinates of the TCP in the robot tool tail end flange coordinate system obtained by calibration and the corresponding joint rotation angles of the robot when the contacts are generated, a fitting plane is obtained by adopting least square fitting, the average distance from a plurality of contacts to the fitting plane is used as the judgment basis of the calibration result, if the average distance is less than a set threshold value, the current calibration result meets the precision requirement, otherwise, new contact coordinates need to be measured again, calibration is carried out again until the calibration result meets the calibration precision requirement.
2. The method for calibrating the center point of a robot tool using a flat calibration plate as claimed in claim 1, wherein the flat surface contacted by the TCP is the calibration plate in the first step.
3. The method for calibrating the center point of a robot tool using a flat calibration plate as claimed in claim 2, wherein in the first step, the calibration plate is provided with a contact sensor for automatically detecting whether the TCP is in contact with the calibration plate.
4. The method as claimed in claim 1, wherein in the first step, the coordinate expression of the contact point in the world coordinate system of the robot is calculated from the rotation angle of each joint of the robot and the self structure of the robot at the origin of the world coordinate system of the robot, and the three coordinates of the TCP to be solved in the end flange coordinate system of the robot are included.
5. The method for calibrating center point of robot tool using plane calibration plate according to claim 1, wherein the number of the contact points in the first step is at least six.
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| CN107995885B (en) * | 2016-11-18 | 2021-02-26 | 深圳配天智能技术研究院有限公司 | Coordinate system calibration method, system and device |
| CN108733082A (en) * | 2017-04-25 | 2018-11-02 | 深圳市裕展精密科技有限公司 | The calibration method of robot tooling center points |
| CN107009360A (en) * | 2017-04-25 | 2017-08-04 | 中国计量大学 | The calibrating installation and method of a kind of six axles multi-joint industrial robot |
| CN107462154B (en) * | 2017-07-28 | 2019-08-30 | 深圳市圆梦精密技术研究院 | The pose measuring method of robot end's tool |
| CN107478183B (en) * | 2017-07-31 | 2019-08-13 | 华中科技大学 | Tandem type robot kinematics' parameter calibration method based on the sampling of multiple spot posture |
| CN107219845B (en) * | 2017-08-07 | 2023-07-25 | 北京英泰诺医疗科技有限公司 | System and method for realizing space registration by manually operating auxiliary robot |
| CN109636783B (en) * | 2018-12-04 | 2020-11-27 | 广东拓斯达科技股份有限公司 | Method and device for determining arm length of robot, computer equipment and storage medium |
| CN111578829B (en) * | 2020-04-17 | 2021-11-02 | 季华实验室 | Device and method for calibrating multi-robot cooperative work coordinate system |
| CN112025772B (en) * | 2020-07-28 | 2021-11-23 | 沈阳建筑大学 | Mechanical arm autonomous calibration method based on visual measurement |
| CN112894814B (en) * | 2021-01-25 | 2023-06-30 | 江苏集萃智能制造技术研究所有限公司 | Mechanical arm DH parameter identification method based on least square method |
| CN115582829B (en) * | 2021-07-05 | 2024-08-23 | 腾讯科技（深圳）有限公司 | Position determining method and device for mechanical arm, electronic equipment and storage medium |
| CN114211483A (en) * | 2021-11-17 | 2022-03-22 | 合肥联宝信息技术有限公司 | Robot tool center point calibration method, device and storage medium |
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| CN1256071C (en) * | 2004-03-11 | 2006-05-17 | 上海交通大学 | Plane location method for whole knee-joint replacement by robot |
| CN1303400C (en) * | 2005-03-04 | 2007-03-07 | 清华大学 | Self-calibrating method and apparatus for ultra precise workbench |
| CN101149836B (en) * | 2007-11-05 | 2010-05-19 | 中山大学 | Three-dimensional reconfiguration double pick-up camera calibration method |
| CN101329764B (en) * | 2008-07-31 | 2010-04-21 | 上海交通大学 | Method for positioning video camera using two arbitrary coplane circles |
| CN103530907B (en) * | 2013-10-21 | 2017-02-01 | 深圳市易尚展示股份有限公司 | Complicated three-dimensional model drawing method based on images |
| CN104457645B (en) * | 2014-11-27 | 2017-08-04 | 中南大学 | A kind of robot tooling center points scaling method of utilization two-dimensional measurement function flat board |
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